CN114401162A - Wireless control system and method based on hole robot - Google Patents
Wireless control system and method based on hole robot Download PDFInfo
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- CN114401162A CN114401162A CN202210044474.0A CN202210044474A CN114401162A CN 114401162 A CN114401162 A CN 114401162A CN 202210044474 A CN202210044474 A CN 202210044474A CN 114401162 A CN114401162 A CN 114401162A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a wireless control system and method based on a hole robot. The system comprises a mobile terminal, a server and a hole robot; the mobile terminal acquires a control request input by a user, converts the control request into a control instruction in a json format, and sends the control instruction to the server through a wireless network; the server receives the control command, converts the control command into modbus format data, and transmits the data after format conversion to the hole robot through a cable; and the hole robot executes the control command according to the data after format conversion, executes motion operation according to the motion command, and sends the cached sensing data to the server according to the query command. Therefore, the system enables the mobile equipment to remotely know the state of the intelligent hole robot or operate the motion of the intelligent hole robot at a place far away from the site, and facilitates field work and experiments.
Description
Technical Field
The invention relates to the field of wireless control, in particular to a wireless control system and method based on a hole robot.
Background
With the development of science and technology, in order to meet the demand of hole detection, a hole robot and a control system of the hole robot become one of the research hotspots in the control field. The control of the hole robot comprises remote understanding of the state of the intelligent hole robot or operation of the movement of the intelligent hole robot.
Since the hole robot can only receive the modbus protocol, the existing method usually needs to carry a large number of peripherals to send control instructions to the hole robot.
Disclosure of Invention
Based on this, the embodiment of the application provides a wireless control system and method based on a hole robot, which can reduce devices brought to the field and physical connection, and facilitate experiments without peripheral devices such as a mouse and a keyboard during field work.
In a first aspect, a wireless control system based on a hole robot is provided, the system comprising: the system comprises a mobile terminal, a server and a hole robot;
the mobile terminal is used for acquiring a control request input by a user, converting the control request into a control instruction in a json format, and sending the control instruction to a server through a wireless network; the control request comprises a motion request and a query request, and the control instruction comprises a motion instruction and a query instruction;
the server is connected with the mobile terminal through Wifi wireless communication and used for receiving the control command, converting the control command into data in a modbus format, and transmitting the data after format conversion to the hole robot through a cable;
the hole robot is in communication connection with the server through a cable, and is used for executing the control command according to the data after format conversion, executing motion operation according to the motion command, and sending stored sensing data to the server according to the query command.
Optionally, the server is further configured to obtain sensing data sent by the hole robot through a modbus protocol, and convert the sensing data into sensing data in a json format; storing the sensor data in the json format into a database and sending the sensor data to the mobile terminal;
and the mobile terminal is also used for receiving and displaying the sensor data in the json format.
Optionally, the hole robot specifically includes an execution mechanism, a sensor group, and a data processing device:
the execution mechanism is used for executing the control instruction according to the data after format conversion;
each sensor in the sensor group is arranged on the outer surface of the hole robot and used for acquiring sensing data and transmitting the sensing data to the data processing device;
the data processing device is used for storing the acquired sensing data and sending the stored sensing data to the server according to the obtained query instruction.
Optionally, the data processing apparatus of the hole robot employs a raspberry pi, and the raspberry pi is used for writing the raspberry pi when it is determined that the converted data includes a write operation;
and when the converted data does not comprise the writing operation, reading the converted data and executing a control instruction.
Optionally, the mobile terminal is configured to obtain a control request input by a user and convert the control request into a control instruction in a json format, and further includes:
the mobile terminal can set a query timing to generate a json-format query instruction and upload the query instruction to the server.
Optionally, the motion instructions specifically include operating the movement of the bore robot and expanding and contracting the support arm.
In a second aspect, a wireless control method based on a hole robot is provided, and is applied to a mobile terminal, and the method includes:
the method comprises the steps of obtaining a control request input by a user, converting the control request into a control instruction in a json format, and sending the control instruction to a server through a wireless network; the control request comprises a motion request and a query request, and the control instruction comprises a motion instruction and a query instruction;
receiving and displaying the sensor data in the json format sent by the server; the json-format sensing data specifically comprises sensing data which are sent by the hole robot and acquired by a server through a modbus protocol, and the sensing data are converted into json-format sensing data.
In a third aspect, a wireless control method based on a hole robot is provided, and is applied to a server, and the method includes:
receiving a control instruction sent by a mobile terminal, converting the format of the control instruction into modbus format data, and transmitting the format-converted data to the hole robot through a cable; the control instruction sent by the mobile terminal comprises a control instruction which is input by the mobile terminal through obtaining a user and converts the control request into a json format;
acquiring sensing data sent by the hole robot through a modbus protocol, and converting the sensing data into json-format sensing data; and storing the sensor data in the json format into a database and sending the sensor data to the mobile terminal.
The technical scheme provided by the embodiment of the application comprises the following steps: the system comprises a mobile terminal, a server and a hole robot; the mobile terminal acquires a control request input by a user, converts the control request into a control instruction in a json format, and sends the control instruction to the server through a wireless network; the server receives the control command, converts the control command into modbus format data, and transmits the data after format conversion to the hole robot through a cable; and the hole robot executes the control command according to the data after format conversion, executes motion operation according to the motion command, and sends the cached sensing data to the server according to the query command. It can be seen that the system enables the mobile device to remotely know the state of the intelligent hole robot or operate the motion of the intelligent hole robot at a place far away from the site. The recent aim is to reduce the devices brought to the field, reduce physical connection, avoid the need of bringing peripheral equipment such as a mouse, a keyboard and the like in field work and facilitate experiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
Fig. 1 is a schematic diagram of a wireless control system based on a hole robot according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a wireless control method based on a hole robot according to an embodiment of the present disclosure.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
This application is when carrying out remote control hole robot operation, the transfer server that will carry sets up and carries out cable communication connection in hole entrance to a cave and hole robot, simultaneously operation personnel's mobile device and transfer server arrange under same Wifi environment, this transfer server of wiFi remote connection through mobile device, in the server convert json data conversion to modbus format data, transmit intelligent hole robot through underground cable, assign the change operation hole robot of the signal of telecommunication for hole robot and remove orbital expansion and the shrink of robot, operation robot's state changes. The robot can be when self state changes, through the various sensors on the robot body, the record is on the buffer memory of robot, and remove the end and can pass through regularly inquiry, upload the server to the inquiry instruction, turn into the json data into modbus signal through the server, inquire the buffer memory of robot, turn into the json with the modbus signal who obtains again and issue for removing the end, make the mobile device can be in the state of the local long-range understanding intelligent hole robot of keeping away from the scene, or operate the motion of intelligent hole robot. The recent aim is to reduce the devices brought to the field, reduce physical connection, avoid the need of bringing peripheral equipment such as a mouse, a keyboard and the like in field work and facilitate experiments.
Specifically, please refer to fig. 1, which shows a schematic diagram of a wireless control system based on a hole robot according to an embodiment of the present application, which specifically includes: the system comprises a mobile terminal, a server and a hole robot;
in the embodiment of the application, the mobile terminal can comprise a display layer and an interaction layer, a control request input by a user is obtained in the interaction layer, the control request is converted into a control instruction in a json format, and the control instruction is sent to the server through a wireless network; the control request comprises a motion request (POST request) and a query request (GET request), and the control instruction comprises a motion instruction and a query instruction; the motion command specifically comprises the movement of the operation hole robot and the expansion and contraction of the supporting arm.
In the presentation layer, the mobile terminal is further configured to receive and present the sensor data in json format, where the presentation includes presentation of a video stream. And simultaneously, parameter setting and equipment operation are carried out on the next inquiry request.
In an optional embodiment of the present application, the mobile terminal may further set a query command in a json format for generating a query command by a timing query, and upload the query command to the server, that is, the query may be performed not by a human but by setting a query period in advance by a human, so as to perform an automatic status query.
The server can comprise a service layer, a data layer and a storage layer, receives the control command, converts the format of the control command into data in a modbus format, and transmits the data after format conversion to the hole robot through a cable; the sensor data processing system is also used for acquiring sensing data sent by the hole robot through a modbus protocol and converting the sensing data into json-format sensing data; and storing the sensing data in the json format into a database and sending the sensing data to the mobile terminal.
In an optional embodiment of the present application, the service layer of the server may further store a picture/video taken by the hole robot, or intercept a key frame of the video as a picture to store, and send the picture/video to the mobile terminal to be displayed, where the file storage may be performed through a MySQL database.
The hole robot is bottom layer hardware, executes a control instruction according to the data (modbus format data) after format conversion, executes motion operation according to a motion instruction, and sends cached sensing data to a server according to a query instruction.
The hole robot can be a loess robot, the hole robot collects sensing data through various sensors on the body, the collected sensing data are recorded on a cache of the robot, the hole robot is mainly realized through a Raspberry Pi, the Raspberry Pi is written when the converted data are determined to include writing operation, and the Raspberry Pi is read when the converted data are determined not to include writing operation and executes a control instruction.
Please refer to fig. 2, which shows a flowchart of a wireless control method for a hole robot according to an embodiment of the present application:
in the embodiment of the application, for the mobile terminal, the mobile terminal acquires a control request input by a user, converts the control request into a control instruction in a json format, and sends the control instruction to the server through the wireless network. The control request comprises a motion request and a query request, and the control instruction comprises a motion instruction and a query instruction.
Finally, the mobile terminal receives and displays the sensor data in the json format sent by the server; the json-format sensing data specifically comprises sensing data which are sent by the hole robot and acquired by the server through a modbus protocol, and the sensing data are converted into json-format sensing data.
In the embodiment of the application, for the server, the server receives the control command sent by the mobile terminal, converts the format of the control command into data in modbus format, and transmits the data after format conversion to the hole robot through the cable.
And the hole robot executes the control command according to the converted data, executes the motion operation according to the motion command, and sends the cached sensing data to the server according to the query command.
The server acquires sensing data sent by the hole robot through a modbus protocol and converts the sensing data into json-format sensing data; and storing the sensing data in the json format into a database and sending the sensing data to the mobile terminal.
An embodiment of the system for remotely controlling a hole robot by using a pad is given as follows:
(1) and the pad communicates with the server through Wi-Fi by using a json format, and sets or acquires the state of the hole robot and operates the movement, expansion and contraction supporting arms of the hole robot.
(2) Because the robot can only accept modbus protocol (pad can not be directly controlled, and transfer is performed by the server), translation is performed on the server, the json format command is changed into a modbus data packet, and then communication is performed with the robot; the server reads various states and sensor data of the robot from the inside of the robot by using a modbus protocol, converts the information into a json format and sends the json format to the pad, and remote operation of the pad is achieved.
It can be seen that the hole robot can be remotely controlled by the technical scheme, a small transfer server can be used for starting when a user goes out, small things similar to a display and a mouse and keyboard do not need to be carried, the number of things carried when the user goes out is reduced, and the whole set of equipment is light and convenient. In addition, the use of the pad obviously simplifies the operation of external devices such as a mouse and a keyboard, and reduces the difficulty of the operation.
For specific limitations of the wireless control method for the hole-based robot, reference may be made to the above limitations of the wireless control system for the hole-based robot, which are not described herein again. All or part of the wireless control system based on the hole robot can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the device, and can also be stored in a memory in the device in a software form, so that the processor can call and execute operations corresponding to the modules.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A wireless control system based on a bore robot, the system comprising: the system comprises a mobile terminal, a server and a hole robot;
the mobile terminal is used for acquiring a control request input by a user, converting the control request into a control instruction in a json format, and sending the control instruction to a server through a wireless network; the control request comprises a motion request and a query request, and the control instruction comprises a motion instruction and a query instruction;
the server is connected with the mobile terminal through Wifi wireless communication and used for receiving the control command, converting the control command into data in a modbus format, and transmitting the data after format conversion to the hole robot through a cable;
the hole robot is in communication connection with the server through a cable, and is used for executing the control command according to the data after format conversion, executing motion operation according to the motion command, and sending stored sensing data to the server according to the query command.
2. The system according to claim 1, wherein the server is further configured to obtain the sensing data sent by the hole robot through a modbus protocol, and convert the sensing data into json-format sensing data; storing the sensor data in the json format into a database and sending the sensor data to the mobile terminal;
and the mobile terminal is also used for receiving and displaying the sensor data in the json format.
3. The system of claim 1, wherein the bore robot comprises an actuator, a sensor set, and a data processing device:
the execution mechanism is used for executing the control instruction according to the data after format conversion;
each sensor in the sensor group is arranged on the outer surface of the hole robot and used for acquiring sensing data and transmitting the sensing data to the data processing device;
the data processing device is used for storing the acquired sensing data and sending the stored sensing data to the server according to the obtained query instruction.
4. The system of claim 3, wherein the data processing device of the hole robot employs a raspberry pi for writing to the raspberry pi when it is determined that the converted data includes a write operation;
and when the converted data does not comprise the writing operation, reading the converted data and executing a control instruction.
5. The system according to claim 1, wherein the mobile terminal is configured to obtain a control request input by a user and convert the control request into a control command in json format, and further comprising:
the mobile terminal can set a query timing to generate a json-format query instruction and upload the query instruction to the server.
6. The system of claim 1, wherein the motion instructions specifically include operating a moving and expanding contracting support arm of the bore robot.
7. A wireless control method based on a hole robot is applied to a mobile terminal, and is characterized by comprising the following steps:
the method comprises the steps of obtaining a control request input by a user, converting the control request into a control instruction in a json format, and sending the control instruction to a server through a wireless network; the control request comprises a motion request and a query request, and the control instruction comprises a motion instruction and a query instruction;
receiving and displaying the sensor data in the json format sent by the server; the json-format sensing data specifically comprises sensing data which are sent by the hole robot and acquired by a server through a modbus protocol, and the sensing data are converted into json-format sensing data.
8. A wireless control method based on a hole robot is applied to a server, and is characterized by comprising the following steps:
receiving a control instruction sent by a mobile terminal, converting the format of the control instruction into modbus format data, and transmitting the format-converted data to the hole robot through a cable; the control instruction sent by the mobile terminal comprises a control instruction which is input by the mobile terminal through obtaining a user and converts the control request into a json format;
acquiring sensing data sent by the hole robot through a modbus protocol, and converting the sensing data into json-format sensing data; and storing the sensor data in the json format into a database and sending the sensor data to the mobile terminal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210044474.0A CN114401162B (en) | 2022-01-14 | 2022-01-14 | Wireless control system and method based on hole robot |
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| CN202210044474.0A CN114401162B (en) | 2022-01-14 | 2022-01-14 | Wireless control system and method based on hole robot |
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| CN114401162A true CN114401162A (en) | 2022-04-26 |
| CN114401162B CN114401162B (en) | 2022-11-08 |
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